• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.176-184
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• 2000

Possible representation methods for the product structure have been compared and analyzed to determine optimal disassembly path of a product. Petri net is selected as the most optimal method to represent disassembly path of the product. In this method, a reachability tree for the product is generated and disassembly time for each path is calculated. A path with the smallest disassembly time is selected as the optimal path. A software far DPN(Disassembly Petri Net) has been developed and applied to search the optimal disassembly path for a ballpoint pen disassembly process as an example.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.392-398
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• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.121-128
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• 2018

Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• Journal of information and communication convergence engineering
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• v.9 no.1
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• pp.27-31
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• 2011

This paper describes the optimization of spectrum sensing in terms of the throughput of a cognitive radio (CR) system. Dealing with the optimization problem of spectrum sensing, this paper evaluates the throughput of a CR system by considering such situations as the penalty time of a channel search and incumbent user (IU) detection delay caused by a missed detection of an incumbent signal. Also, this paper suggests a serial channel search scheme as the search method for a vacant channel, and derives its mean channel search time by considering the penalty time due to the false alarm of a vacant channel search. The numerical results suggest the optimum sensing time of the channel search process using the derived mean channel search time of a serial channel search in the case of a sensing hardware structure with single radio frequency (RF) path. It also demonstrates that the average throughput is improved by two separate RF paths in spite of the hardware complexity of an RF receiver.

• Journal of Korea Game Society
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• v.9 no.4
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• pp.81-88
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• 2009

In this paper, I suggested a way for searching a path of the intelligent character in an action game by using a genetic algorithm. This realized the algorithm which enables not only to chose the nearest path but also to search the optimum path by using genetic algorithm. In this case, if the codes of chromosomes are applied as they are, a lot of lethal genes could occur. In order to solve such a problem, I used a splicing method, one of the DNA's behavior characteristics. The intelligent character searched out a optimum pass as well as a shortcut path with one treatment by using the characteristic of a genetic algorithm which generates multiple candidate solutions in the search process.

• Journal of Digital Contents Society
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• v.13 no.3
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• pp.451-457
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• 2012

Recently, as the use of real time traffic information of a car navigation system increases rapidly with the development of Intelligent Transportation Systems (ITS), path search is getting more important. Previous algorithms, however, are mostly for the shortest distance searching and provide route information using static distance and time information. Thus they could not provide the most optimal route at the moment which changes dynamically according to traffic. Accordingly, in this study, Semantic Shortest Path algorithm with Reduction ratio & Distance(SSP_RD) is proposed to solve this problem. Additionally, a routing model based on velocity reduction ratio and distance and a dynamic route link map are proposed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.771-773
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• 2005

There have been researches about analyzing the information retrieval patterns of log file to efficiently obtain the users' information research patters in web environment. The methods frequently used in their researches is to suggest the algorithms by which the frequent one is derived from the path traversal patterns in efficient way. But one of their general problems is not to provide the proper solution in case of complex, that is, general topological patterns. Therefore this paper tries to suggest a efficient algorithm after defining the general information retrieval pattern.

• The Transactions of the Korea Information Processing Society
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• v.7 no.10
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• pp.3164-3170
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• 2000

The use of the A' for the path search of the agent in the game map give the overhead of computing time in real time game processing. The other heuristic search algorithms do not guarantee the optical path. The route table of which the row is defined by current position, goal position, visiting position is presented in this paper. This route table is made in the game development phase and tilized in game playing. The visiting position which is contatined in the optimal path to the goal position from the current position can guarantee the optical path, and this mothod has no overhead on computing time. But the memory space is requred too much. This problem can also be solved using the data compression by skipping the duplicated route table.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.11
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• pp.2052-2067
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• 2011

Complementary trees are two spanning trees rooted at the sink node satisfying that any source node's two paths to the sink node on the two trees are node-disjoint. Complementary trees routing strategy is a special node-disjoint multi-path routing approach. Several complementary trees routing algorithms have been proposed, in which path discovery methods based on depth first search (DFS) or Dijkstra's algorithm are used to find a path for augmentation in each round of path augmentation step. In this paper, a novel path discovery method based on multi-tree-growing (MTG) is presented for the first time to our knowledge. Based on this path discovery method, a complementary trees routing algorithm is developed with objectives of low average path length on both spanning trees and low complexity. Measures are employed in our complementary trees routing algorithm to add a path with nodes near to the sink node in each round of path augmentation step. The simulation results demonstrate that our complementary trees routing algorithm can achieve low average path length on both spanning trees with low running time, suitable for wireless sensor networks in industrial scenarios.